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\title{On Adaptation in Self-Assembly Systems}

\author{Aubery Marchel Tientcheu Ngouabeu $^{1}$, Shuhei Miyashita $^{2}$%, Rudolf M. F\"{u}chslin $^{2,3}$, \\{\Large Kohei Nakajima$^{2}$, Maurice G\"{o}ldi $^{2}$, and Rolf Pfeifer $^{2}$}% <-this % stops a space
\mbox{} \\
$^1$ Technical University Munich\\
$^2$ NanoRobotics Lab, Carnegie Mellon University\\
aubery.tientcheu@mytum.de
}

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\begin{abstract}
Adaptive autonomous systems in the real world continuously encounter new demanding situations derived from the physical constraints of their own body and the environment. They have to acquire the information about the environment through their own sensory systems, and adaptive behaviors have to be achieved by using a highly restricted amount of resources such as limited number of sensors and motors.
It has been brought to attention that complex self-organizing systems, in which artefacts exhibit a global behaviour as result of local interaction between each other and their surrounding environment can be exploited to enhance the adaptation of physically constrained autonomous systems.
In this paper, we study how morphological properties, in self-organizing systems might be exploited to achieve adaptive systems. By considering dynamic interactions between real-world robots and their environment as the central issue of interest, underlying mechanisms of behavioral diversity are identied.
 More-over, it is also shown how these dynamic interactions are related to perception and cognitive processes. Through a number of case studies of biologically inspired autonomous robots, these mechanisms are conceptualized as a set of design principles.
These principles can not only be used for building robots but also capture important insights of biological systems.
\end{abstract}

\section{INTRODUCTION}
Self-organization is one way by which nature builds artefacts at various scales. 
Nature offers diverse examples: the formation of molecular crystals \cite{desiraju:1989}, the folding of polypeptide chains into proteins \cite{Maginn:gu0077}, the folding of protein into their functional form \cite{Neidle1999}, the cell's spontaneous organization into tissues \cite{jakab:2004}, bacteria into colonies \cite{elena:1991} \cite{elena:1995}, the formation of swarms (flock of bird or school of fish \cite{Reynolds:1987:Boids}) at a higher level, are commonly achieved in a distributed manner, where there is no central control system.

\section{EXPERIMENTS}

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\subsection{Experimental setup Setup (Aubery - Shuhei)}

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\subsection{Christof/Aubery's circuit experiments}




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\section{DISCUSSIONS}




\section{CONCLUSIONS AND FUTURE WORK}



We proposed a stochastic self-assembly system in which a segregation effect emerges as a result of local non-linear interactions between the modules of the system. The system involves passive and active vibrating modules, that randomly move on water in a purely distributed way. By analyzing fifteen
experimental trials with statistical methods on a real setup, we have shown the expected segregation behavior, in which  passive and active modules induced formed groups, hence causing a segregation behavior.  
We believe that understanding dynamic self-assembly will play a key role in the development of small-scaled modular robots and will offer new opportunities to deepen both the realization and the theoretical
understanding of self-assembly systems. Furthermore, some of the principles discovered especially concerning the
dependence of self-organization on the dynamic interaction between the modules might lead to a better understanding of similar processes found in natural systems and of life in general.

\section*{ACKNOWLEDGMENTS}
This research is partially supported by the Swiss National Science Foundation project \#200020-118117/1.

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